Hyper-resolved, high bandwidth scanned LIDAR systems

ABSTRACT

Embodiments are directed toward a scanning LIDAR system that measures a distance to a target that reflects light from a transmitter to a receiver. A light transmitter is arranged to scan pulses of light that reflect off a remote surface (target) and illuminate fractions of the Field of View (FoV) of a receiver, such as a camera. These fractions of the FoV are smaller than a resolution provided by an array of pixels used to detect Time of Flight (ToF) reflections of the scanned pulses of light from a remote surface. The exemplary scanning LIDAR system may resolve an image of the remote surface at substantially higher resolution than the pixel resolution provided by its receiver.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a Utility Patent application based on previouslyfiled U.S. Provisional Patent Application U.S. Ser. No. 62/709,715 filedon Jan. 29, 2018, the benefit of the filing date of which is herebyclaimed under 35 U.S.C. § 119(e) and which is further incorporated inentirety by reference.

TECHNICAL FIELD

The present invention relates generally to a light imaging, detectionand ranging (LIDAR) system and to methods of making and using the LIDARsystem. The present invention is also directed to a LIDAR system thatscans with a narrow blade of illumination across a field of view with anarray of pixels.

BACKGROUND

LIDAR systems may be employed to determine a range, a distance, aposition and/or a trajectory of a remote object, such as an aircraft, amissile, a drone, a projectile, a baseball, a vehicle, or the like. Thesystems may track the remote object based on detection of photons, orother signals, emitted and/or reflected by the remote object. LIDARsystems may illuminate the remote object with electromagnetic waves, orlight beams, emitted by the systems. The systems may detect a portion oflight beams that are reflected, or scattered, by the remote object. Thesystems may suffer from one or more of undesirable speed, undesirableaccuracy, or undesirable susceptibility to noise.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an embodiment of an exemplary environment in which variousembodiments of the invention may be implemented;

FIG. 2 illustrates an embodiment of an exemplary mobile computer thatmay be included in a system such as that shown in FIG. 1;

FIG. 3 shows an embodiment of an exemplary network computer that may beincluded in a system such as that shown in FIG. 1;

FIG. 4 shows a perspective view of a light source that is configured asan exemplary laser diode bar device to emit laser light on its edge as a“light blade” through a thin and wide aperture;

FIG. 5A illustrates a side view of the laser diode bar devicecollimating the laser light into a beam along one axis, i.e., a “lightblade”;

FIG. 5B shows another side view of the exemplary laser diode bar devicewhere the maximum sharpness of the light blade is set at a fixeddistance by a position of a collimating lens;

FIG. 6 illustrates an exemplary scan mirror that unidirectionally sweepsthe laser “light blade” back and forth across the field of view (FoV);

FIG. 7 shows an exemplary polygonal shaped rotating mirror sweeping thelaser light blade uni-directionally across a FoV;

FIG. 8 illustrates an exemplary system that provides for transmitting(Tx) and receiving (Rx) a laser light blade scanned onto and reflectedback from a remote surface;

FIG. 9 shows an exemplary projected image (I′) of the laser light bladeonto a surface of an exemplary pixel array sensor (S);

FIG. 10 illustrates an exemplary projected image (I′) of the laser lightblade's line width (Wl′) being substantially narrower than the width ofa pixel in the array (Wp);

FIG. 11 shows exemplary successive scans where a position of theprojected image (I′) of the laser light blade is advanced, or retardedby small fractions, in correspondence to the projected image (I′)illuminating slightly different fractional portions of a 3D surface inthe FoV;

FIG. 12 illustrates actions of an exemplary hyper-resolved 3D LIDARsystem that employs separate transmitting (Tx) processes to separatelyscan a pixel in both the x (column) and β (row) directions;

FIG. 13 shows an exemplary 2D array LIDAR system that scans theprojected image of a laser light spot in a 2D pattern that is reflectedoff a surface onto pixels in an array;

FIG. 14 illustrates an exemplary 2D LIDAR system that scans theprojected image of the laser light spot in columns where the azimuthalposition of each of the columns may be established through feedbackand/or calibration;

FIG. 15 shows an exemplary overview of two vehicles that are quicklyapproaching each other and a hyper resolved LIDAR system is able toquickly observe small changes in distance between the vehicles; and

FIG. 16 illustrates a flow chart for determining a range of a targetwith a LIDAR system;

FIG. 17A shows an exemplary LIDAR system detecting a first edge of anobject;

FIG. 17B illustrates an exemplary LIDAR system that is emitting scannedlight pulses at a detected object;

FIG. 17C shows an exemplary LIDAR system scanning pulsed light when anobject is detected and scanning continuous light when the object isundetected; and

FIG. 18 illustrates a flow chart for employing scanned continuous andpulsed light to dynamically determine the contours of an object inaccordance with the invention.

DESCRIPTION OF EMBODIMENTS OF THE INVENTION

Various embodiments now will be described more fully hereinafter withreference to the accompanying drawings, which form a part hereof, andwhich show, by way of illustration, specific embodiments by which theinvention may be practiced. The embodiments may, however, be embodied inmany different forms and should not be construed as limited to theembodiments set forth herein; rather, these embodiments are provided sothat this disclosure will be thorough and complete, and will fullyconvey the scope of the embodiments to those skilled in the art. Amongother things, the various embodiments may be methods, systems, media, ordevices. Accordingly, the various embodiments may take the form of anentirely hardware embodiment, an entirely software embodiment, or anembodiment combining software and hardware aspects. The followingdetailed description is, therefore, not to be taken in a limiting sense.

Throughout the specification and claims, the following terms take themeanings explicitly associated herein, unless the context clearlydictates otherwise. The phrase “in one embodiment” as used herein doesnot necessarily refer to the same embodiment, though it may.Furthermore, the phrase “in another embodiment” as used herein does notnecessarily refer to a different embodiment, although it may. Thus, asdescribed below, various embodiments of the invention may be readilycombined, without departing from the scope or spirit of the invention.

In addition, as used herein, the term “or” is an inclusive “or”conjunction, and is equivalent to the term “and/or,” unless the contextclearly dictates otherwise. The term “based on” is not exclusive andallows for being based on additional factors not described, unless thecontext clearly dictates otherwise. In addition, throughout thespecification, the meaning of “a,” “an,” and “the” include pluralreferences. The meaning of “in” includes “in” and “on.”

As used herein, the terms “photon beam,” “light beam,” “electromagneticbeam,” “image beam,” or “beam” refer to a somewhat localized (in timeand space) beam or bundle of photons or electromagnetic (EM) waves ofvarious frequencies or wavelengths within the EM spectrum. An outgoinglight beam is a beam that is transmitted by various ones of the variousembodiments disclosed herein. An incoming light beam is a beam that isdetected by various ones of the various embodiments disclosed herein.

As used herein, the terms “light source,” “photon source,” or “source”refer to various devices that are capable of emitting, providing,transmitting, or generating one or more photons or EM waves of one ormore wavelengths or frequencies within the EM spectrum. A light orphoton source may transmit one or more outgoing light beams. A photonsource may be a laser, a light emitting diode (LED), a light bulb, orthe like. A photon source may generate photons via stimulated emissionsof atoms or molecules, an incandescent process, or various othermechanism that generates an EM wave or one or more photons. A photonsource may provide continuous or pulsed outgoing light beams of apredetermined frequency, or range of frequencies. The outgoing lightbeams may be coherent light beams. The photons emitted by a light sourcemay be of various wavelengths or frequencies.

As used herein, the terms “photon detector,” “light detector,”“detector,” “photon sensor,” “light sensor,” or “sensor” refer tovarious devices that are sensitive to the presence of one or morephotons of one or more wavelengths or frequencies of the EM spectrum. Aphoton detector may include an array of photon detectors, such as anarrangement of a plurality of photon detecting or sensing pixels. One ormore of the pixels may be a photosensor that is sensitive to theabsorption of at least one photon. A photon detector may generate asignal in response to the absorption of one or more photons. A photondetector may include a one-dimensional (1D) array of pixels. However, inother embodiments, photon detector may include at least atwo-dimensional (2D) array of pixels. The pixels may include variousphoton-sensitive technologies, such as one or more of active-pixelsensors (APS), charge-coupled devices (CCDs), Single Photon AvalancheDetector (SPAD) (operated in avalanche mode or Geiger mode),photovoltaic cells, phototransistors, twitchy pixels, or the like. Aphoton detector may detect one or more incoming light beams.

As used herein, the term “target” is one or more various 2D or 3D bodiesthat reflect or scatter at least a portion of incident light, EM waves,or photons. For instance, a target may scatter or reflect an outgoinglight beam that is transmitted by various ones of the variousembodiments disclosed herein. In the various embodiments describedherein, one or more photon sources may be in relative motion to one ormore of photon detectors and/or one or more targets. Similarly, one ormore photon detectors may be in relative motion to one or more of photonsources and/or one or more targets. One or more targets may be inrelative motion to one or more of photon sources and/or one or morephoton detectors.

As used herein, the term “disparity” represents a positional offset ofone or more pixels in a sensor relative to a predetermined position inthe sensor. For example, horizontal and vertical disparities of a givenpixel in a sensor may represent horizontal and vertical offsets (e.g.,as indicated by row or column number, units of distance, or the like) ofthe given pixel from a predetermined position in the sensor (or anothersensor). The disparities may be measured from a center, one or moreedges, one or more other pixels, or the like in the sensor (or anothersensor). In other embodiments, disparity may represent an angle. Forexample, a transmitter may emit a beam at an angle α, and the sensor mayreceive a reflection of the beam at an angle β through an aperture. Thedisparity may be measured as the difference between 180° and the sum ofthe angles α and β.

The following briefly describes embodiments of the invention in order toprovide a basic understanding of some aspects of the invention. Thisbrief description is not intended as an extensive overview. It is notintended to identify key or critical elements, or to delineate orotherwise narrow the scope. Its purpose is merely to present someconcepts in a simplified form as a prelude to the more detaileddescription that is presented later.

Briefly stated, various embodiments are generally directed to a scanningLIDAR system that measures a distance to a target that reflects lightfrom a transmitter to a receiver. A light transmitter is arranged toscan pulses of light that reflect off a remote surface (target) andilluminate fractions of the Field of View (FoV) of a receiver, such as acamera. These fractions of the FoV are smaller than a resolutionprovided by an array of pixels used to detect Time of Flight (ToF)reflections of the scanned pulses of light from a remote surface. Theexemplary scanning LIDAR system may resolve an image of the remotesurface at substantially higher resolution than the pixel resolutionprovided by its receiver. And such a “hyper-resolved” scanning LIDARsystem is capable of 3-dimensional (3D) image accuracies that areequivalent to 2-dimensional (2D) high resolution passive camera system,such as employed in machine vision cameras.

In one or more embodiments, the receiver may be co-located with thetransmitter. In one or more embodiments, the pixels may be siliconphotomultiplier (SiPM) pixels which can detect single photons. Also, inone or more embodiments, each arrival time of a photon pulse is capturedby the receiver and transferred to a system bus, which can be configuredto simultaneously communicate a full row or column of signals providedby the pixels.

In one or more embodiments, the transmitter scans a known trajectory(F(t)) across the FoV. Also, when pulsed laser illumination is emitted,the instantaneous direction may be observed by a feedback loop. Further,during each scan across the FoV, the transmitter pulses laserillumination in particular intervals in transmission directions thatmatch receiving directions of rows or columns of a receiver. Forexample, N pulses, in N (x and β) directions matching N pixel rows orcolumns.

In one or more embodiments, during successive scans by the transmitter,the timing of the laser pulses is advanced in fractional increments.Further, each increment is correlated to a fractional shift in directionwithin the perspective of the same receiving ToF pixel, i.e. incrementalfractions within the telescopic view of a ToF pixel.

In one or more embodiments, rows or columns of ToF pixels in an array ofthe receiver are activated in a “rolling-shutter” fashion to matchexpected direction of the reflected laser pulses. For example, Mincremental positions within the telescopic view of a single row orcolumn of pixels resolve M sub pixel positions. Also, the resolutionalong the direction of a scan may be M times higher than the number ofreceivers (e.g. if N=400, 400 columns, and M=10, then 4000 lateralpositions are scanned, resulting in a 4K resolution LIDAR system).

In one or more embodiments, a light transmitter is arranged to scanpulses of laser light emanating from a slot aperture and collimated bycylindrical optics to form a blade (thin and wide) of light thatilluminate fractions of the Field of View (FoV) of a receiver, and aresmaller than the pixel resolution of an array of pixels used to detectTime of Flight (ToF) reflections of the scanned pulses of light from aremote surface. For example, a slot (slit) aperture may be an exit facetof a laser diode, e.g., 1 by 20 microns. A laser “blade” is formed byone dimensional optics, such as a cylindrical lens after the slit. Also,in one or more embodiments, a blade of laser light illumination may be“serrated” into S individual tips, and the tips can be movedincrementally during successive scans along the blade (e.g. vertical)direction so that the dimension traversed in the scan direction may alsobe “hyper-resolved.” Further, surface details of objects that areencountered during successively scanned frames of an image can be“filled” in, with higher degrees of surface structure detail beingprovided during successive scans.

In one or more embodiments, two blades of laser light may be arranged toscan the FoV in two orthogonal directions, so that each single photonavalanche diode (SPAD) arranged in two dimensions for an array of pixelscan be hyper resolved. One blade may scan horizontally along an X axis(i.e. an azimuthal scan, across various columns in the array of pixels)and the second blade may scan vertically along a Y axis (across theelevations—corresponding to rows in the array of pixels).

In one or more embodiments, the exemplary LIDAR system may compute andbuild a rigid surface shape hypothesis, and/or a 3D trajectoryhypothesis. Further, the computation of these hypotheses may use a formof “Spatiotemporal Histogramming” or of “dithered over-sampling” using a“canonical 3D surface” model (estimator).

In one or more embodiments, an active area of SPAD based pixels issmaller than the total pixel, i.e. the pitch (spacing) between adjacentpixels. Micro-lenses can expand the active area to effectivelyilluminate the whole of the pixel, so that any photons falling at anyplace in the array may be detected.

Although high definition (HD) camera based navigational systems mayresolve features at 1/60th of a degree to match the ability of humanfoveal vision. A blue laser blade illuminated hyper scanning LIDARsystem, may provide scanning speeds in excess of 4 thousand frames persecond, over a succession of 10 frames, to resolve two thousandhorizontal pixels (2K) for displaying an image in three dimensions andalso match each observed voxel with each camera pixel of the sameresolution. For example, at 4000 frames per second, ten successiveframes advancing 1/10 across 400 columns would effectively provide exactvoxel positions and pixel color contrast down to 0.01 degree in the scandirection. This level of resolution is able to accurately observe aworld in constant motion. Also, individual positions of voxels may beobserved with sub microsecond latency and temporal accuracy. Further,four thousand horizontal (4K) pixel hyper resolved frames of an imagemay be observed at 400 frames per second or more. Also, 4K hyperresolved 3D color images may be provided with 250-microseconds oflatency, or less.

Illustrated Operating Environment

FIG. 1 shows exemplary components of one embodiment of an exemplaryenvironment in which various exemplary embodiments of the invention maybe practiced. Not all of the components may be required to practice theinvention, and variations in the arrangement and type of the componentsmay be made without departing from the spirit or scope of the invention.As shown, system 100 of FIG. 1 includes network 102, photon transmitter104, photon receiver 106, target 108, and tracking computer device 110.In some embodiments, system 100 may include one or more other computers,such as but not limited to laptop computer 112 and/or mobile computer,such as but not limited to a smartphone or tablet 114. In someembodiments, photon transmitter 104 and/or photon receiver 106 mayinclude one or more components included in a computer, such as but notlimited to various ones of computers 110, 112, or 114.

Additionally, photon transmitter 104 may unidirectionally scan laserlight to generate a blade of light illumination that is much wider thanits thickness. Also, the photon receiver may provide an array of pixelsin two dimensions to receive the reflection of the blade from a surfaceof a remote object.

System 100, as well as other systems discussed herein, may be asequential-pixel photon projection system. In at least one embodimentsystem 100 is a sequential-pixel laser projection system that includesvisible and/or non-visible photon sources. Various embodiments of suchsystems are described in detail in at least U.S. Pat. Nos. 8,282,222,8,430,512, 8,696,141, 8,711,370, U.S. Patent Publication No.2013/0300,637, and U.S. Patent Publication No. 2016/0041266. Note thateach of the U.S. patents and U.S. patent publications listed above areherein incorporated by reference in the entirety.

Target 108 may be a two-dimensional or three-dimensional target. Target108 is not an idealized black body, i.e. it reflects or scatters atleast a portion of incident photons. As shown by the velocity vectorassociated with photon receiver 106, in some embodiments, photonreceiver 106 is in relative motion to at least one of photon transmitter104 and/or target 108. For the embodiment of FIG. 1, photon transmitter104 and target 108 are stationary with respect to one another. However,in other embodiments, photon transmitter 104 and target 108 are inrelative motion. In at least one embodiment, photon receiver 106 may bestationary with respect to one or more of photon transmitter 104 and/ortarget 108. Accordingly, each of photon transmitter 104, target 108, andphoton receiver 106 may be stationary or in relative motion to variousother ones of photon transmitter 104, target 108, and photon receiver106. Furthermore, as used herein, the term “motion” may refer totranslational motion along one or more of three orthogonal specialdimensions and/or rotational motion about one or more correspondingrotational axis.

Photon transmitter 104 is described in more detail below. Briefly,however, photon transmitter 104 may include one or more photon sourcesfor transmitting light or photon beams in a scanned blade (width isgreater than thickness) of pulsed laser light illumination. A photonsource may include photo-diodes. A photon source may provide continuousor pulsed light beams of a predetermined frequency, or range offrequencies. The provided light beams may be coherent light beams. Aphoton source may be a laser. For instance, photon transmitter 104 mayinclude one or more visible and/or non-visible laser source. In oneembodiment, photon transmitter 104 includes at least one of a red (R), agreen (G), and a blue (B) laser source to produce an RGB image. In someembodiments, photon transmitter includes at least one non-visible lasersource, such as a near-infrared (NIR) laser. Photon transmitter 104 maybe a projector. Photon transmitter 104 may include various ones of thefeatures, components, or functionality of a computer device, includingbut not limited to mobile computer 200 of FIG. 2 and/or network computer300 of FIG. 3.

Photon transmitter 104 also includes an optical system that includesoptical components to direct, focus, and scan the transmitted oroutgoing blade of light beams. The optical systems aim and shape thespatial and temporal beam profiles of outgoing light beam blades. Theoptical system may collimate, fan-out, or otherwise manipulate theoutgoing light beams. At least a portion of the outgoing light beams areaimed at and are reflected by the target 108. In at least oneembodiment, photon transmitter 104 includes one or more photon detectorsfor detecting incoming photons reflected from target 108, e.g.,transmitter 104 is a transceiver.

Photon receiver 106 is described in more detail below. Briefly, however,photon receiver 106 may include one or more photon-sensitive, orphoton-detecting, arrays of sensor pixels. An array of sensor pixelsdetects continuous or pulsed light beams reflected from target 108. Thearray of pixels may be a one dimensional-array or a two-dimensionalarray. The pixels may include SPAD pixels or other photo-sensitiveelements that avalanche upon the illumination by one or a few incomingphotons. The pixels may have ultra-fast response times of a fewnanoseconds in detecting a single or a few photons. The pixels may besensitive to the frequencies emitted or transmitted by photontransmitter 104 and relatively insensitive to other frequencies. Photonreceiver 106 also includes an optical system that includes opticalcomponents to direct, focus, and scan the received, or incoming, beams,across the array of pixels. In at least one embodiment, photon receiver106 includes one or more photon sources for emitting photons toward thetarget 108 (e.g., receiver 106 includes a transceiver). Photon receiver106 may include a camera. Photon receiver 106 may include various onesof the features, components, or functionality of a computer device,including but not limited to mobile computer 200 of FIG. 2 and/ornetwork computer 300 of FIG. 3.

Various embodiment of tracking computer device 110 are described in moredetail below in conjunction with FIGS. 2-3 (e.g., tracking computerdevice 110 may be an embodiment of mobile computer 200 of FIG. 2 and/ornetwork computer 300 of FIG. 3). Briefly, however, tracking computerdevice 110 includes virtually various computer devices enabled toperform the various tracking processes and/or methods discussed herein,based on the detection of photons reflected from one or more surfaces,including but not limited to surfaces of target 108. Based on thedetected photons or light beams, tracking computer device 110 may alteror otherwise modify one or more configurations of photon transmitter 104and photon receiver 106. It should be understood that the functionalityof tracking computer device 110 may be performed by photon transmitter104, photon receiver 106, or a combination thereof, withoutcommunicating to a separate device.

In some embodiments, at least some of the tracking functionality may beperformed by other computers, including but not limited to laptopcomputer 112 and/or a mobile computer, such as but not limited to asmartphone or tablet 114. Various embodiments of such computers aredescribed in more detail below in conjunction with mobile computer 200of FIG. 2 and/or network computer 300 of FIG. 3.

Network 102 may be configured to couple network computers with othercomputing devices, including photon transmitter 104, photon receiver106, tracking computer device 110, laptop computer 112, orsmartphone/tablet 114. Network 102 may include various wired and/orwireless technologies for communicating with a remote device, such as,but not limited to, USB cable, Bluetooth®, Wi-Fi®, or the like. In someembodiments, network 102 may be a network configured to couple networkcomputers with other computing devices. In various embodiments,information communicated between devices may include various kinds ofinformation, including, but not limited to, processor-readableinstructions, remote requests, server responses, program modules,applications, raw data, control data, system information (e.g., logfiles), video data, voice data, image data, text data,structured/unstructured data, or the like. In some embodiments, thisinformation may be communicated between devices using one or moretechnologies and/or network protocols.

In some embodiments, such a network may include various wired networks,wireless networks, or various combinations thereof. In variousembodiments, network 102 may be enabled to employ various forms ofcommunication technology, topology, computer-readable media, or thelike, for communicating information from one electronic device toanother. For example, network 102 can include—in addition to theInternet—LANs, WANs, Personal Area Networks (PANs), Campus AreaNetworks, Metropolitan Area Networks (MANs), direct communicationconnections (such as through a universal serial bus (USB) port), or thelike, or various combinations thereof.

In various embodiments, communication links within and/or betweennetworks may include, but are not limited to, twisted wire pair, opticalfibers, open air lasers, coaxial cable, plain old telephone service(POTS), wave guides, acoustics, full or fractional dedicated digitallines (such as T1, T2, T3, or T4), E-carriers, Integrated ServicesDigital Networks (ISDNs), Digital Subscriber Lines (DSLs), wirelesslinks (including satellite links), or other links and/or carriermechanisms known to those skilled in the art. Moreover, communicationlinks may further employ various ones of a variety of digital signalingtechnologies, including without limit, for example, DS-0, DS-1, DS-2,DS-3, DS-4, OC-3, OC-12, OC-48, or the like. In some embodiments, arouter (or other intermediate network device) may act as a link betweenvarious networks—including those based on different architectures and/orprotocols—to enable information to be transferred from one network toanother. In other embodiments, remote computers and/or other relatedelectronic devices could be connected to a network via a modem andtemporary telephone link. In essence, network 102 may include variouscommunication technologies by which information may travel betweencomputing devices.

Network 102 may, in some embodiments, include various wireless networks,which may be configured to couple various portable network devices,remote computers, wired networks, other wireless networks, or the like.Wireless networks may include various ones of a variety of sub-networksthat may further overlay stand-alone ad-hoc networks, or the like, toprovide an infrastructure-oriented connection for at least clientcomputer (e.g., laptop computer 112 or smart phone or tablet computer114) (or other mobile devices). Such sub-networks may include meshnetworks, Wireless LAN (WLAN) networks, cellular networks, or the like.In at least one of the various embodiments, the system may include morethan one wireless network.

Network 102 may employ a plurality of wired and/or wirelesscommunication protocols and/or technologies. Examples of variousgenerations (e.g., third (3G), fourth (4G), or fifth (5G)) ofcommunication protocols and/or technologies that may be employed by thenetwork may include, but are not limited to, Global System for Mobilecommunication (GSM), General Packet Radio Services (GPRS), Enhanced DataGSM Environment (EDGE), Code Division Multiple Access (CDMA), WidebandCode Division Multiple Access (W-CDMA), Code Division Multiple Access2000 (CDMA2000), High Speed Downlink Packet Access (HSDPA), Long TermEvolution (LTE), Universal Mobile Telecommunications System (UMTS),Evolution-Data Optimized (Ev-DO), Worldwide Interoperability forMicrowave Access (WiMax), time division multiple access (TDMA),Orthogonal frequency-division multiplexing (OFDM), ultra-wide band(UWB), Wireless Application Protocol (WAP), user datagram protocol(UDP), transmission control protocol/Internet protocol (TCP/IP), variousportions of the Open Systems Interconnection (OSI) model protocols,session initiated protocol/real-time transport protocol (SIP/RTP), shortmessage service (SMS), multimedia messaging service (MMS), or variousones of a variety of other communication protocols and/or technologies.In essence, the network may include communication technologies by whichinformation may travel between photon transmitter 104, photon receiver106, and tracking computer device 110, as well as other computingdevices not illustrated.

In various embodiments, at least a portion of network 102 may bearranged as an autonomous system of nodes, links, paths, terminals,gateways, routers, switches, firewalls, load balancers, forwarders,repeaters, optical-electrical converters, or the like, which may beconnected by various communication links. These autonomous systems maybe configured to self-organize based on current operating conditionsand/or rule-based policies, such that the network topology of thenetwork may be modified.

As discussed in detail below, photon transmitter 104 may provide anoptical beacon signal. Accordingly, photon transmitter 104 may include atransmitter (Tx). Photon transmitter 104 may transmit a photon beam ontoa projection surface of target 108. Thus, photon transmitter 104 maytransmit and/or project an image onto the target 108. The image mayinclude a sequential pixilation pattern. The discreet pixels shown onthe surface of target 108 indicate the sequential scanning of pixels ofthe image via sequential scanning performed by photon transmitter 108.Photon receiver (Rx) 106 may include an observing system which receivesthe reflected image. As noted, photon receiver 106 may be in motionrelative (as noted by the velocity vector) to the image being projected.The relative motion between photon receiver 106 and each of the photontransmitter 104 and target 108 may include a relative velocity invarious directions and an arbitrary amplitude. In system 100, photontransmitter 104 and the image on the surface are not in relative motion.Rather, the image is held steady on the surface of target 108. However,other embodiments are not so constrained (e.g., the photon transmitter104 may be in relative motion to target 108). The projected image may beanchored on the surface by compensating for the relative motion betweenthe photon transmitter 104 and the target 108.

Illustrative Mobile Computer

FIG. 2 shows one embodiment of an exemplary mobile computer 200 that mayinclude many more or less components than those exemplary componentsshown. Mobile computer 200 may represent, for example, at least oneembodiment of laptop computer 112, smartphone/tablet 114, and/ortracking computer 110 of system 100 of FIG. 1. Thus, mobile computer 200may include a mobile device (e.g., a smart phone or tablet), astationary/desktop computer, or the like.

Client computer 200 may include processor 202 in communication withmemory 204 via bus 206. Client computer 200 may also include powersupply 208, network interface 210, processor-readable stationary storagedevice 212, processor-readable removable storage device 214,input/output interface 216, camera(s) 218, video interface 220, touchinterface 222, hardware security module (HSM) 224, projector 226,display 228, keypad 230, illuminator 232, audio interface 234, globalpositioning systems (GPS) transceiver 236, open air gesture interface238, temperature interface 240, haptic interface 242, and pointingdevice interface 244. Client computer 200 may optionally communicatewith a base station (not shown), or directly with another computer. Andin one embodiment, although not shown, a gyroscope may be employedwithin client computer 200 for measuring and/or maintaining anorientation of client computer 200.

Power supply 208 may provide power to client computer 200. Arechargeable or non-rechargeable battery may be used to provide power.The power may also be provided by an external power source, such as anAC adapter or a powered docking cradle that supplements and/or rechargesthe battery.

Network interface 210 includes circuitry for coupling client computer200 to one or more networks, and is constructed for use with one or morecommunication protocols and technologies including, but not limited to,protocols and technologies that implement various portions of the OSImodel for mobile communication (GSM), CDMA, time division multipleaccess (TDMA), UDP, TCP/IP, SMS, MMS, GPRS, WAP, UWB, WiMax, SIP/RTP,GPRS, EDGE, WCDMA, LTE, UMTS, OFDM, CDMA2000, EV-DO, HSDPA, or variousones of a variety of other wireless communication protocols. Networkinterface 210 is sometimes known as a transceiver, transceiving device,or network interface card (NIC).

Audio interface 234 may be arranged to produce and receive audio signalssuch as the sound of a human voice. For example, audio interface 234 maybe coupled to a speaker and microphone (not shown) to enabletelecommunication with others and/or generate an audio acknowledgementfor some action. A microphone in audio interface 234 can also be usedfor input to or control of client computer 200, e.g., using voicerecognition, detecting touch based on sound, and the like.

Display 228 may be a liquid crystal display (LCD), gas plasma,electronic ink, light emitting diode (LED), Organic LED (OLED) orvarious other types of light reflective or light transmissive displaysthat can be used with a computer. Display 228 may also include the touchinterface 222 arranged to receive input from an object such as a stylusor a digit from a human hand, and may use resistive, capacitive, surfaceacoustic wave (SAW), infrared, radar, or other technologies to sensetouch and/or gestures.

Projector 226 may be a remote handheld projector or an integratedprojector that is capable of projecting an image on a remote wall orvarious other reflective objects such as a remote screen.

Video interface 220 may be arranged to capture video images, such as astill photo, a video segment, an infrared video, or the like. Forexample, video interface 220 may be coupled to a digital video camera, aweb-camera, or the like. Video interface 220 may comprise a lens, animage sensor, and other electronics. Image sensors may include acomplementary metal-oxide-semiconductor (CMOS) integrated circuit,charge-coupled device (CCD), or various other integrated circuits forsensing light.

Keypad 230 may comprise various input devices arranged to receive inputfrom a user. For example, keypad 230 may include a push button numericdial, or a keyboard. Keypad 230 may also include command buttons thatare associated with selecting and sending images.

Illuminator 232 may provide a status indication and/or provide light.Illuminator 232 may remain active for specific periods of time or inresponse to event messages. For example, if illuminator 232 is active,it may backlight the buttons on keypad 230 and stay on while the clientcomputer is powered. Also, illuminator 232 may backlight these buttonsin various patterns if particular actions are performed, such as dialinganother client computer. Illuminator 232 may also cause light sourcespositioned within a transparent or translucent case of the clientcomputer to illuminate in response to actions.

Further, client computer 200 may also comprise HSM 224 for providingadditional tamper resistant safeguards for generating, storing and/orusing security/cryptographic information such as, keys, digitalcertificates, passwords, passphrases, two-factor authenticationinformation, or the like. In some embodiments, hardware security modulemay be employed to support one or more standard public keyinfrastructures (PKI), and may be employed to generate, manage, and/orstore keys pairs, or the like. In some embodiments, HSM 224 may be astand-alone computer, in other cases, HSM 224 may be arranged as ahardware card that may be added to a client computer.

Client computer 200 may also comprise input/output interface 216 forcommunicating with external peripheral devices or other computers suchas other client computers and network computers. The peripheral devicesmay include an audio headset, virtual reality headsets, display screenglasses, remote speaker system, remote speaker and microphone system,and the like. Input/output interface 216 can utilize one or moretechnologies, such as Universal Serial Bus (USB), Infrared, Wi-Fi™,WiMax, Bluetooth™, and the like.

Input/output interface 216 may also include one or more sensors fordetermining geolocation information (e.g., GPS), monitoring electricalpower conditions (e.g., voltage sensors, current sensors, frequencysensors, and so on), monitoring weather (e.g., thermostats, barometers,anemometers, humidity detectors, precipitation scales, or the like), orthe like. Sensors may be one or more hardware sensors that collectand/or measure data that is external to client computer 200.

Haptic interface 242 may be arranged to provide tactile feedback to auser of the client computer. For example, the haptic interface 242 maybe employed to vibrate client computer 200 in a particular way ifanother user of a computer is calling. Temperature interface 240 may beused to provide a temperature measurement input and/or a temperaturechanging output to a user of client computer 200. Open air gestureinterface 238 may sense physical gestures of a user of client computer200, for example, by using single or stereo video cameras, radar, agyroscopic sensor inside a computer held or worn by the user, or thelike. Camera 218 may be used to track physical eye movements of a userof client computer 200.

GPS transceiver 236 can determine the physical coordinates of clientcomputer 200 on the surface of the Earth, which typically outputs alocation as latitude and longitude values. GPS transceiver 236 can alsoemploy other geo-positioning mechanisms, including, but not limited to,triangulation, assisted GPS (AGPS), Enhanced Observed Time Difference(E-OTD), Cell Identifier (CI), Service Area Identifier (SAI), EnhancedTiming Advance (ETA), Base Station Subsystem (BSS), or the like, tofurther determine the physical location of client computer 200 on thesurface of the Earth. It is understood that under different conditions,GPS transceiver 236 can determine a physical location for clientcomputer 200. In one or more embodiments, however, client computer 200may, through other components, provide other information that may beemployed to determine a physical location of the client computer,including for example, a Media Access Control (MAC) address, IP address,and the like.

Human interface components can be peripheral devices that are physicallyseparate from client computer 200, allowing for remote input and/oroutput to client computer 200. For example, information routed asdescribed here through human interface components such as display 228 orkeypad 230 can instead be routed through network interface 210 toappropriate human interface components located remotely. Examples ofhuman interface peripheral components that may be remote include, butare not limited to, audio devices, pointing devices, keypads, displays,cameras, projectors, and the like. These peripheral components maycommunicate over a Pico Network such as Bluetooth™, Zigbee™ and thelike. One non-limiting example of a client computer with such peripheralhuman interface components is a wearable computer, which might include aremote pico projector along with one or more cameras that remotelycommunicate with a separately located client computer to sense a user'sgestures toward portions of an image projected by the pico projectoronto a reflected surface such as a wall or the user's hand.

Memory 204 may include RAM, ROM, and/or other types of memory. Memory204 illustrates an example of computer-readable storage media (devices)for storage of information such as computer-readable instructions, datastructures, program modules or other data. Memory 204 may store BIOS 246for controlling low-level operation of client computer 200. The memorymay also store operating system 248 for controlling the operation ofclient computer 200. It will be appreciated that this component mayinclude a general-purpose operating system such as a version of UNIX, orLINUX™ or a specialized client computer communication operating systemsuch as Apple iOS®, or the Android® operating system. The operatingsystem may include, or interface with a Java virtual machine module thatenables control of hardware components and/or operating systemoperations via Java application programs.

Memory 204 may further include one or more data storage 250, which canbe utilized by client computer 200 to store, among other things,applications 252 and/or other data. For example, data storage 250 mayalso be employed to store information that describes variouscapabilities of client computer 200. In one or more of the variousembodiments, data storage 250 may store tracking information 251. Theinformation 251 may then be provided to another device or computer basedon various ones of a variety of methods, including being sent as part ofa header during a communication, sent upon request, or the like. Datastorage 250 may also be employed to store social networking informationincluding address books, buddy lists, aliases, user profile information,or the like. Data storage 250 may further include program code, data,algorithms, and the like, for use by a processor, such as processor 202to execute and perform actions. In one embodiment, at least some of datastorage 250 might also be stored on another component of client computer200, including, but not limited to, non-transitory processor-readablestationary storage device 212, processor-readable removable storagedevice 214, or even external to the client computer.

Applications 252 may include computer executable instructions which, ifexecuted by client computer 200, transmit, receive, and/or otherwiseprocess instructions and data. Applications 252 may include, forexample, tracking client engine 254, other client engines 256, webbrowser 258, or the like. Client computers may be arranged to exchangecommunications, such as, queries, searches, messages, notificationmessages, event messages, alerts, performance metrics, log data, APIcalls, or the like, combination thereof, with application servers,network file system applications, and/or storage managementapplications.

The web browser engine 226 may be configured to receive and to send webpages, web-based messages, graphics, text, multimedia, and the like. Theclient computer's browser engine 226 may employ virtually variousprogramming languages, including a wireless application protocolmessages (WAP), and the like. In one or more embodiments, the browserengine 258 is enabled to employ Handheld Device Markup Language (HDML),Wireless Markup Language (WML), WMLScript, JavaScript, StandardGeneralized Markup Language (SGML), HyperText Markup Language (HTML),eXtensible Markup Language (XML), HTML5, and the like.

Other examples of application programs include calendars, searchprograms, email client applications, IM applications, SMS applications,Voice Over Internet Protocol (VOIP) applications, contact managers, taskmanagers, transcoders, database programs, word processing programs,security applications, spreadsheet programs, games, search programs, andso forth.

Additionally, in one or more embodiments (not shown in the figures),client computer 200 may include an embedded logic hardware deviceinstead of a CPU, such as, an Application Specific Integrated Circuit(ASIC), Field Programmable Gate Array (FPGA), Programmable Array Logic(PAL), or the like, or combination thereof. The embedded logic hardwaredevice may directly execute its embedded logic to perform actions. Also,in one or more embodiments (not shown in the figures), client computer200 may include a hardware microcontroller instead of a CPU. In one ormore embodiments, the microcontroller may directly execute its ownembedded logic to perform actions and access its own internal memory andits own external Input and Output Interfaces (e.g., hardware pins and/orwireless transceivers) to perform actions, such as System On a Chip(SOC), or the like.

Illustrative Network Computer

FIG. 3 shows one embodiment of an exemplary network computer 300 thatmay be included in an exemplary system implementing one or more of thevarious embodiments. Network computer 300 may include many more or lesscomponents than those shown in FIG. 3. However, the components shown aresufficient to disclose an illustrative embodiment for practicing theseinnovations. Network computer 300 may include a desktop computer, alaptop computer, a server computer, a client computer, and the like.Network computer 300 may represent, for example, one embodiment of oneor more of laptop computer 112, smartphone/tablet 114, and/or trackingcomputer 110 of system 100 of FIG. 1.

As shown in FIG. 3, network computer 300 includes a processor 302 thatmay be in communication with a memory 304 via a bus 306. In someembodiments, processor 302 may be comprised of one or more hardwareprocessors, or one or more processor cores. In some cases, one or moreof the one or more processors may be specialized processors designed toperform one or more specialized actions, such as, those describedherein. Network computer 300 also includes a power supply 308, networkinterface 310, processor-readable stationary storage device 312,processor-readable removable storage device 314, input/output interface316, GPS transceiver 318, display 320, keyboard 322, audio interface324, pointing device interface 326, and HSM 328. Power supply 308provides power to network computer 300.

Network interface 310 includes circuitry for coupling network computer300 to one or more networks, and is constructed for use with one or morecommunication protocols and technologies including, but not limited to,protocols and technologies that implement various portions of the OpenSystems Interconnection model (OSI model), global system for mobilecommunication (GSM), code division multiple access (CDMA), time divisionmultiple access (TDMA), user datagram protocol (UDP), transmissioncontrol protocol/Internet protocol (TCP/IP), Short Message Service(SMS), Multimedia Messaging Service (MIMS), general packet radio service(GPRS), WAP, ultra wide band (UWB), IEEE 802.16 WorldwideInteroperability for Microwave Access (WiMax), Session InitiationProtocol/Real-time Transport Protocol (SIP/RTP), or various ones of avariety of other wired and wireless communication protocols. Networkinterface 310 is sometimes known as a transceiver, transceiving device,or network interface card (NIC). Network computer 300 may optionallycommunicate with a base station (not shown), or directly with anothercomputer.

Audio interface 324 is arranged to produce and receive audio signalssuch as the sound of a human voice. For example, audio interface 324 maybe coupled to a speaker and microphone (not shown) to enabletelecommunication with others and/or generate an audio acknowledgementfor some action. A microphone in audio interface 324 can also be usedfor input to or control of network computer 300, for example, usingvoice recognition.

Display 320 may be a liquid crystal display (LCD), gas plasma,electronic ink, light emitting diode (LED), Organic LED (OLED) orvarious other types of light reflective or light transmissive displaythat can be used with a computer. Display 320 may be a handheldprojector or pico projector capable of projecting an image on a wall orother object.

Network computer 300 may also comprise input/output interface 316 forcommunicating with external devices or computers not shown in FIG. 3.Input/output interface 316 can utilize one or more wired or wirelesscommunication technologies, such as USB™, Firewire™, Wi-Fi™ WiMax,Thunderbolt™, Infrared, Bluetooth™, Zigbee™, serial port, parallel port,and the like.

Also, input/output interface 316 may also include one or more sensorsfor determining geolocation information (e.g., GPS), monitoringelectrical power conditions (e.g., voltage sensors, current sensors,frequency sensors, and so on), monitoring weather (e.g., thermostats,barometers, anemometers, humidity detectors, precipitation scales, orthe like), or the like. Sensors may be one or more hardware sensors thatcollect and/or measure data that is external to network computer 300.Human interface components can be physically separate from networkcomputer 300, allowing for remote input and/or output to networkcomputer 300. For example, information routed as described here throughhuman interface components such as display 320 or keyboard 322 caninstead be routed through the network interface 310 to appropriate humaninterface components located elsewhere on the network. Human interfacecomponents include various components that allow the computer to takeinput from, or send output to, a human user of a computer. Accordingly,pointing devices such as mice, styluses, track balls, or the like, maycommunicate through pointing device interface 326 to receive user input.

GPS transceiver 318 can determine the physical coordinates of networkcomputer 300 on the surface of the Earth, which typically outputs alocation as latitude and longitude values. GPS transceiver 318 can alsoemploy other geo-positioning mechanisms, including, but not limited to,triangulation, assisted GPS (AGPS), Enhanced Observed Time Difference(E-OTD), Cell Identifier (CI), Service Area Identifier (SAI), EnhancedTiming Advance (ETA), Base Station Subsystem (BSS), or the like, tofurther determine the physical location of network computer 300 on thesurface of the Earth. It is understood that under different conditions,GPS transceiver 318 can determine a physical location for networkcomputer 300. In one or more embodiments, however, network computer 300may, through other components, provide other information that may beemployed to determine a physical location of the client computer,including for example, a Media Access Control (MAC) address, IP address,and the like.

Memory 304 may include Random Access Memory (RAM), Read-Only Memory(ROM), and/or other types of memory. Memory 304 illustrates an exampleof computer-readable storage media (devices) for storage of informationsuch as computer-readable instructions, data structures, program modulesor other data. Memory 304 stores a basic input/output system (BIOS) 330for controlling low-level operation of network computer 300. The memoryalso stores an operating system 332 for controlling the operation ofnetwork computer 300. It will be appreciated that this component mayinclude a general-purpose operating system such as a version of UNIX, orLINUX™, or a specialized operating system such as MicrosoftCorporation's Windows® operating system, or the Apple Corporation's IOS®operating system. The operating system may include, or interface with aJava virtual machine module that enables control of hardware componentsand/or operating system operations via Java application programs.Likewise, other runtime environments may be included.

Memory 304 may further include one or more data storage 334, which canbe utilized by network computer 300 to store, among other things,applications 336 and/or other data. For example, data storage 334 mayalso be employed to store information that describes variouscapabilities of network computer 300. In one or more of the variousembodiments, data storage 334 may store tracking information 335. Thetracking information 335 may then be provided to another device orcomputer based on various ones of a variety of methods, including beingsent as part of a header during a communication, sent upon request, orthe like. Data storage 334 may also be employed to store socialnetworking information including address books, buddy lists, aliases,user profile information, or the like. Data storage 334 may furtherinclude program code, data, algorithms, and the like, for use by one ormore processors, such as processor 302 to execute and perform actionssuch as those actions described below. In one embodiment, at least someof data storage 334 might also be stored on another component of networkcomputer 300, including, but not limited to, non-transitory media insidenon-transitory processor-readable stationary storage device 312,processor-readable removable storage device 314, or various othercomputer-readable storage devices within network computer 300, or evenexternal to network computer 300.

Applications 336 may include computer executable instructions which, ifexecuted by network computer 300, transmit, receive, and/or otherwiseprocess messages (e.g., SMS, Multimedia Messaging Service (MMS), InstantMessage (IM), email, and/or other messages), audio, video, and enabletelecommunication with another user of another mobile computer. Otherexamples of application programs include calendars, search programs,email client applications, IM applications, SMS applications, Voice OverInternet Protocol (VOIP) applications, contact managers, task managers,transcoders, database programs, word processing programs, securityapplications, spreadsheet programs, games, search programs, and soforth. Applications 336 may include tracking engine 346 that performsactions further described below. In one or more of the variousembodiments, one or more of the applications may be implemented asmodules and/or components of another application. Further, in one ormore of the various embodiments, applications may be implemented asoperating system extensions, modules, plugins, or the like.

Furthermore, in one or more of the various embodiments, tracking engine346 may be operative in a cloud-based computing environment. In one ormore of the various embodiments, these applications, and others, may beexecuting within virtual machines and/or virtual servers that may bemanaged in a cloud-based based computing environment. In one or more ofthe various embodiments, in this context the applications may flow fromone physical network computer within the cloud-based environment toanother depending on performance and scaling considerationsautomatically managed by the cloud computing environment. Likewise, inone or more of the various embodiments, virtual machines and/or virtualservers dedicated to tracking engine 346 may be provisioned andde-commissioned automatically.

Also, in one or more of the various embodiments, tracking engine 346 orthe like may be located in virtual servers running in a cloud-basedcomputing environment rather than being tied to one or more specificphysical network computers.

Further, network computer 300 may comprise HSM 328 for providingadditional tamper resistant safeguards for generating, storing and/orusing security/cryptographic information such as, keys, digitalcertificates, passwords, passphrases, two-factor authenticationinformation, or the like. In some embodiments, hardware security modulemay be employ to support one or more standard public key infrastructures(PKI), and may be employed to generate, manage, and/or store keys pairs,or the like. In some embodiments, HSM 328 may be a stand-alone networkcomputer, in other cases, HSM 328 may be arranged as a hardware cardthat may be installed in a network computer.

Additionally, in one or more embodiments (not shown in the figures), thenetwork computer may include one or more embedded logic hardware devicesinstead of one or more CPUs, such as, an Application Specific IntegratedCircuits (ASICs), Field Programmable Gate Arrays (FPGAs), ProgrammableArray Logics (PALs), or the like, or combination thereof. The embeddedlogic hardware devices may directly execute embedded logic to performactions. Also, in one or more embodiments (not shown in the figures),the network computer may include one or more hardware microcontrollersinstead of a CPU. In one or more embodiments, the one or moremicrocontrollers may directly execute their own embedded logic toperform actions and access their own internal memory and their ownexternal Input and Output Interfaces (e.g., hardware pins and/orwireless transceivers) to perform actions, such as System On a Chip(SOC), or the like.

Illustrative System Operation and Architecture

FIG. 4 shows a perspective view of a light source that is configured asan exemplary laser diode bar device to emit laser light on its edge as a“light blade” through a thin and wide aperture. As shown, anedge-emitting GaN diode laser is emitting blue (405 nm) laser light fromapertures or “facets” on the edge of the device. Each emitter has a“thin and wide” aperture from which coherent blue laser light isemitted. In one or more embodiments, the aperture may be only 1 micronthin and as much as 20-micron wide. The light emitted from across thethin dimension (here shown vertical) spreads (diverges) across a wideangle and may be referred to as “the fast axis”.

FIG. 5A illustrates a side view of the laser diode bar devicecollimating the laser light into a beam along one axis, i.e., a “lightblade.” Also, FIG. 5B shows another side view of the exemplary laserdiode bar device where the maximum sharpness of the light blade is setat a fixed distance by a position of a collimating lens. In one or moreembodiments, at least because the emission window (facet) is so narrow,the fast axis emission (typically single mode resonance) can becollimated into a highly collimated beam. Since the laser light may becollimated in just one axis, the laser light ends up as a “light blade”that projects a sharp thin line on a remote surface or across a remoteobject. The blade can be purely collimated, projecting sharp lines inthe far field, across a large range. (See FIG. 5A) Or, alternatively,the maximum sharpness of the laser light scan line may be set at acertain distance by slightly focusing in the emissions from the laserdiode bar. For example, adjusting the focal distance slightly by movingthe bar or the collimating lens. A varifocal projection focus is set atdistance Zf in FIG. 5B.

FIG. 6 illustrates an exemplary scan mirror that unidirectionally sweepsthe laser “light blade” back and forth across the field of view (FoV).As shown, a scan mirror moves the “light blade” with a uni-axial mirror,e.g., a galvo-mirror or microelectromechanical systems (MEMS) mirror toscan the collimated “light blade” back and forth across a field of view(FoV). In one or more embodiments, the sweep angle may be twice amechanical angle: if e.g. a MEMS mirror moves +/−10 degrees, it willmove (rotate) the “light blade” +/−20 degrees, over a total angle of 40degrees, across the FoV.

FIG. 7 shows an exemplary polygonal shaped rotating mirror sweeping thelaser light blade uni-directionally across a FoV. At 100 revolutions persecond (6000 rpm) a polygonal mirror with 18 facets may sweep the blade1800 times per second across a 40 degree FoV.

FIG. 8 illustrates an exemplary LIDAR system that provides fortransmitting (Tx) and receiving (Rx) a laser light blade scanned ontoand reflected back from a remote surface. The transmitter (Tx) emits the“light blade”, scanning it and projecting a sharp line on a remotesurface. A receiver is shown here with an aperture for the focusingoptics located along (aligned with) the same rotational axis along whichthe transmitter (Tx) is scanning the light blade. One may be mountedabove the other (aligned on the same vertical axis). The receiver (Rx)may include an aperture with focusing optics that projects thereflection of the laser line 1 onto the surface of an array sensor S.

FIG. 9 shows an exemplary projected image (I′) of the laser light bladeonto a surface of an exemplary pixel array sensor (S) of which just asmall portion is shown in the figure.

FIG. 10 illustrates an exemplary projected image (I′) of the laser lightblade's line width (WI′) being substantially narrower than the width ofa pixel in the array (Wp), or WI′<<Wp.

FIG. 11 shows exemplary successive scans where a position of theprojected image (I′) of the laser light blade is advanced, or retardedby small fractions, in correspondence to the projected image (I′)illuminating slightly different fractional portions of a 3D surface inthe FoV. In one or more embodiments, the 3D position and degree ofreflectivity (i.e. albedo and or color variances across the surface) ofthese surfaces can be resolved in the scan direction substantiallybeyond the pixel resolution of the sensor, as well as the focusingability of the receiver Rx.

FIG. 12 illustrates actions of an exemplary hyper-resolved 3D LIDARsystem that employs separate transmitting (Tx) processes to separatelyscan a pixel in both the x (column) and y (row) directions, at separatetimes t2 and t1 respectively.

FIG. 13 shows an exemplary 2D super resolution array LIDAR system thatscans the projected image (I′) of the laser light blade in a 2D patternthat is reflected off a surface onto pixels in an array. (Otherembodiments are discussed herein that scan in a 1D trajectory). The 2Dscan may be an output of a gimbal type MEMS mirror scanning transmitter(Tx). As shown, the laser line is reflected off a surface and observedby the receiver (Rx). Shown here is a portion of an array sensor S,where the laser point sequential trajectory scans first across one rowof pixels in the sensor. This row of pixels corresponds to anelevation—a scan height Y—of epsilon 1 (E1). At time t1, the laser pointilluminates a point P1 in the sensor. At a later time the scan linetraverses another row of pixels in the array S, corresponding to anelevation epsilon 2 (E2), at time t2 the reflection of the beam t2illuminates point P2 in that row. The beam and spot trajectory iscontinuous and smooth, and known either by direct feedback on the beammotion, e.g., by tracking MEMS mirror positions, or by indirect feedbackderived from the reflected spot observation (e.g. spatio-temporalinterpolation between avalanche diode events in a SiPM sensor). Thus, aprecise spot position can be established ex-post from a series of priorobservations and each moment at which the laser fires can be correlated(matched) with the elevation and azimuth directions (the 2D pointingdirections) in the transmitter (Tx). Thus, each position of theilluminated voxel can be deducted, with a higher degree of precisionthan the mere resolution of a pixelated SPAD array.

FIG. 14 illustrates an exemplary 2D point scan LIDAR system that scansthe projected image (I′) of the laser light blade in columns where theazimuthal position of each of the columns may be established throughfeedback and/or calibration. The 2D LIDAR system provides the fast scandirection along the columns in an SiPM array. 3 columns are scanned inthis illustration. The azimuthal position of each of the columns can beestablished through feedback and/or calibration. In each of the 3columns, in each of 7 rows the laser light illuminates momentarily,e.g., for 1 nano second during an approximate 10 nanoseconds forsuccessive transition of an individual pixel. The exact elevations(epsilon 1-7) in each column are likewise determined by feedback andcalibration. Also, in FIGS. 13 and 14, the transmitters (Tx) andreceivers (Rx) are generally collocated (e.g., the mirror position ofthe scanner in the transmitter and the optical center of the aperture ofthe receiver are substantially aligned).

FIG. 15 shows an exemplary overview of a use case for the exemplaryLIDAR systems discussed above. In this example, two vehicles are quicklyapproaching each other, and a hyper resolved LIDAR system is employed byone vehicle to quickly observe small changes in distance between eachother. As shown, Vehicle one (V1) LIDAR discovers a voxel P1 at t1 onthe surface of vehicle 2 (V2). In a later scanline—e.g. a few 100microseconds later—a second voxel P2 is observed, at a closer distance,because the distance between the two vehicles has substantially changedeven during the short, elapsed interval. This illustrates how fast hyperresolved LIDAR systems which produce a constant stream of nanosecondaccurate observations may be optimized by directing their “raw” datastreams (Mega voxels flows) into an Artificial Intelligence (AI) computesystem that can find (detect, locate, classify and track) moving objectsand surfaces in a “big data” cloud, a highly oversampled voxel flow.Sorting through large, dense low latency flows of voxel and pixel datais preferable over a simpler LIDAR approach which (“histogramming”)tries to refine individual LIDAR point observations PRIOR to passing therefined (cleaned up, histogrammed) data on to a machine perceptionsystem. As shown, vehicle V1's machine perception system develops aworking hypothesis about the nature and position, and velocity of theapproaching vehicle V2.

Using this working hypothesis for the 3D shape and 6 degrees of freedom(position velocity, heading with respect to a world reference and/or itsown position and heading) the machine perception system can “fit”successive further observations to refine both the 3d image details ofthe perceived objects, and its observed and predicted motion trajectory,e.g to help improve classification and making necessary navigationdecisions e.g. to avoid a collision.

FIG. 17A shows an exemplary LIDAR system detecting a first edge of atarget object.

FIG. 17B illustrates an exemplary LIDAR system that has switched fromscanning continuous light to scanning light pulses when a target objectis detected.

FIG. 17C shows an exemplary LIDAR system scanning pulsed light when atarget object is detected and scanning continuous light when a targetobject is undetected.

Generalized Operations

FIG. 16 illustrates a flow chart for providing a range for a target witha resolution that is greater than the resolution of an array of pixelsemployed by a receiver to sense successive scans of light reflected fromthe target.

Moving from a start block, the logic advances to block 1602 were scannedsequential pulses of light are directed toward the target. A timing ofthe light pulses is advanced by fractional increments during successivescans and is correlated to a fractional shift in direction within atelescopic view of a same pixel in an array of pixels provided by thereceiver.

Stepping to block 1604, the receiver receives reflections of the scannedpulses of light from the target. Each pulse of light reflected from thetarget and received by the receiver illuminates a fraction of a Field ofView of a pixel and is smaller than a resolution of the pixel in anarray of pixels provided by the receiver. Also, the pixel array isarranged in one or more of rows or columns, and each pixel is configuredto sense one or more photons of the reflected pulses of light.

Flowing to block 1606, one or more departure times of the scanned pulsesof light are determined. Also, the range of the target is determinedwith an image resolution that is greater than a pixel resolution of thearray of pixels based on the timing advancement for the fractionalincrements that is correlated to the scanned pulses of reflected lightsensed by one or more of the array of pixels. Next, the process returnsto performing other actions.

FIG. 18 illustrates a flow chart for employing scanned continuous andpulsed light to dynamically determine the contours of an object. Theability for an active light system position detection system such as aLIDAR to precisely detect a foreground object's contours is particularlyimportant in robotics for grasping, picking up, catching and dexterouslyhandling of moving objects of various shapes. Moreover, in autonomousmobility and delivery systems it greatly helps if a perceptualartificial intelligence (AI) system can be handed “cleanly croppedpixels” that strictly contain image details of the object rather thanany spurious background pixels.

This method provides perceptual “foviation”. For example, a roboticperceptual system employing a Convolutional Neural Network (CNN) toclassify shapes and objects, may improve its response time and reduceits error rate if the CNN is provided with strictly those pixels thatare illuminated by reflections from the dog, in an accurate dog shapethat precisely moves like a dog. This ultra sharp edge detection enablesa novel foveated version of Multi Modal Classification: Image, Shape andMotion. (MMC:ISM). The method enables a LIDAR, or other active lightdetection systems to dynamically locate the precise 3D locations of theedges of such objects. For this exemplary method, a 2D scanning laserbeam is discussed that projects a single voxel light spot. However,substantially the same method may also be employed to enable moreprecise cropping and foviation when employing a 1D scanning “laser lightblade”.

Moving from a start block, the process steps to block 1802 where a laserbeam of the Tx portion of a LIDAR system starts scanning the laser beamcontinuously “on” so that a constant high-intensity flow of photons issubstantially and continuously transmitted towards possible targets in aField of View of the LIDAR. In one or more embodiments, the continuoustransmission of the laser beam may be provided by an ultra-rapid streamof sharp pulses (“rapid-fire laser pin-pricks”), where the spacingbetween these pulses is close enough to locate the edges of an objectwith sufficient spatial accuracy.

At block 1804, the logic determines whether photons from a rotatingscanning beam of the LIDAR system first reaches an edge of an object bydetecting when sufficient photons are reflected by the object's edge tobe observed by a receiver of the LIDAR system (Rx). When sufficientphotons (e.g. ten 405 nm photons in a SiPM or APD array) reach anavalanche pixel in an array of the receiver, this pixel avalanches at aprecise arrival time t_(xa0) that is captured by a time of flight (ToF)timing system, which may be a circuit built into the pixel's circuit. Ifthe determination is affirmative, the logic passes to block 1806.However, if the determination was negative, the logic loops at decisionblock 1804 until an affirmative determination is made.

At block 1806, a precise recorded “arrival” time t_(xa0) of thedetection of an initial (first) edge position can be determined from thepixel location in the array as well as a known beam scan trajectory.Optionally, time interpolation methods and beam position and motionfeedback from the Tx scan system may be employed to determine the firstedge position of the object.

At block 1808, upon the receiver detecting a first edge of the objectbecause it has induced avalanche in a pixel of it's array, thetransmitter of the LIDAR (Tx) switches from scanning a substantiallycontinuous stream of photons, to a series of rapid pulses, of very short(nanosecond) duration, with precise “departure times” and precise knownpointing directions. In one or more embodiments, these pulses may behigher in intensity and ultra short in their duty cycle withsubstantially the same average laser power.

At block 1810, when the surface of the object reflects theses pulses,these reflections are received and arrival times recorded by thereceiver (Rx) of the LIDAR system, and their ranges determined by one ormore LIDAR or Triangulation methods.

Optionally, at block 1812, one or more of spacing apart in time,duration, or intensity of subsequently transmitted pulses may beadjusted by the LIDAR system based on one or more of the detectedobject's distance, albedo, the available power in the transmitter, oreye safety considerations. For example, a physically close andhighly-reflective object may be pulsed at a greater frequency, requiringless power at least because the closeness enables a greater sufficiencyof reflected photons to be detected.

Optionally, at block 1814, the observed distance of the first detectedranges of pixels, may be employed to estimate the ToF range of theobject's edge accurately. Further, a known ToF delay can be subtractedfrom the arrival time t_(xa0), the arrival event time associated withthe first edge-avalanche as discussed above in regard to block 1804.Also, the departure time of those first photons reflected by thefirst/initial edge may be estimated (t_(xd0)=t_(xa0)−ToF), and from thisequation a more precise instantaneous pointing direction of the scannedbeam of light at departure time t_(xd0) may be estimated (e.g., by timeinterpolation, look up, as the beam pointing direction is following aprecisely known & observed scan pattern). This optional step may improvethe accuracy of the initial positional estimate for the first edge pixeldiscussed in regard to block 1806.

At decision block 1816, a determination is made as to whether anotherpulse reflection is received. If false, the logic loops back to block1802 and performs substantially the same actions again. However, if thedetermination at decision block 1816 is true, the process loops back toblock 1808 and performs substantially the same actions again.

Additionally, substantially perfect color and contrast fusion may beprovided by the precise pixel and voxel matches that are provided by theexemplary LIDAR system at the edges of objects. Further, as describedabove, a hyper accurate scanned laser detection system can “pin-point”the edge location within a fraction of the resolution of the SiPMpixels, and these pin-point edge voxel locations can then be matched 1-1exactly with fine-grained color image details provided by ahigh-resolution camera.

It will be understood that each block of the flowchart illustrations,and combinations of blocks in the flowchart illustrations, (or actionsexplained above with regard to one or more systems or combinations ofsystems) can be implemented by computer program instructions. Theseprogram instructions may be provided to a processor to produce amachine, such that the instructions, which execute on the processor,create means for implementing the actions specified in the flowchartblock or blocks. The computer program instructions may be executed by aprocessor to cause a series of operational steps to be performed by theprocessor to produce a computer-implemented process such that theinstructions, which execute on the processor to provide steps forimplementing the actions specified in the flowchart block or blocks. Thecomputer program instructions may also cause at least some of theoperational steps shown in the blocks of the flowcharts to be performedin parallel. Moreover, some of the steps may also be performed acrossmore than one processor, such as might arise in a multi-processorcomputer system. In addition, one or more blocks or combinations ofblocks in the flowchart illustration may also be performed concurrentlywith other blocks or combinations of blocks, or even in a differentsequence than illustrated without departing from the scope or spirit ofthe invention.

Additionally, in one or more steps or blocks, may be implemented usingembedded logic hardware, such as, an Application Specific IntegratedCircuit (ASIC), Field Programmable Gate Array (FPGA), Programmable ArrayLogic (PAL), or the like, or combination thereof, instead of a computerprogram. The embedded logic hardware may directly execute embedded logicto perform actions some or all of the actions in the one or more stepsor blocks. Also, in one or more embodiments (not shown in the figures),some or all of the actions of one or more of the steps or blocks may beperformed by a hardware microcontroller instead of a CPU. In at leastone embodiment, the microcontroller may directly execute its ownembedded logic to perform actions and access its own internal memory andits own external Input and Output Interfaces (e.g., hardware pins and/orwireless transceivers) to perform actions, such as System On a Chip(SOC), or the like.

The above specification, examples, and data provide a completedescription of the manufacture and use of the composition of theinvention. Since many embodiments of the invention can be made withoutdeparting from the spirit and scope of the invention, the inventionresides in the claims hereinafter appended.

What is claimed as new and desired to be protected by Letters Patent ofthe United States is:
 1. A method for measuring a range of a target,comprising: emitting, by a transmitter, scanned sequential pulses oflight toward the target, wherein a timing of the light pulses isadvanced by fractional increments during successive scans and iscorrelated to a fractional shift in direction within a telescopic viewof a same pixel in an array of pixels provided by the receiver;receiving, by the receiver, one or more reflections of the scannedpulses of light from the target, wherein each pulse of light reflectedfrom the target and received by the receiver illuminates a fraction of aField of View of a pixel and is smaller than a resolution of the pixelin the array of pixels provided by the receiver, and wherein the pixelarray is arranged in one or more of rows or columns, and wherein eachpixel is configured to sense one or more photons of the reflected pulsesof light; determining, by one or more processor devices, one or moredeparture times of the scanned pulses of light; and determining, by theone or more processor devices, the range of the target with an imageresolution of the target that is greater than a pixel resolution of thearray of pixels based on the timing advancement for the fractionalincrements that is correlated to the scanned pulses of reflected lightsensed by one or more of the array of pixels.
 2. The method of claim 1,wherein the scanned pulses of light pass through or emanate from anarrow slot aperture-followed by 1 dimensional focusing optics to form athin blade of light that is directed to the target and reflected to thereceiver.
 3. The method of claim 1, wherein the scanned pulses of lightpass through a thin slot aperture to form a thin serrated blade of lightthat is directed to the target and reflected to the receiver.
 4. Themethod of claim 1, wherein the pixels further comprise siliconphotomultiplier (SiPM) pixels that can detect a single photon.
 5. Themethod of claim 1, further comprising providing a collimating lens thatcollimates the scanned pulses of light emitted by the transmitter. 6.The method of claim 1, wherein the light emitted by the transmitter islaser light.
 7. The method of claim 1, further comprising providing amirror to scan the emitted light towards the target, wherein a shape ofthe mirror is one of planar, polygon, convex, concave, or spherical. 8.The method of claim 1, further comprising: determining, by the one ormore processor devices, one or more anticipated arrival times of the oneor more scanned pulses of light reflections on one or more rows orcolumns of the array of pixels based on the one or more departure times;and sequentially activating, by the one or more processor devices, oneor more portions of the array of pixels arranged in the one or more rowsor columns to sense the scanned pulses of light reflections based on theone or more anticipated arrival times.
 9. A system to provide a range ofa target, comprising: a transmitter that emits scanned sequential pulsesof light toward the target, wherein a timing of the light pulses isadvanced by fractional increments during successive scans and iscorrelated to a fractional shift in direction within a telescopic viewof a same pixel in an array of pixels provided by the receiver; areceiver that receives one or more reflections of the scanned pulses oflight from the target, wherein each pulse of light reflected from thetarget and received by the receiver illuminates a fraction of a Field ofView of a pixel and is smaller than a resolution of the pixel in thearray of pixels provided by the receiver, and wherein the pixel array isarranged in one or more of rows or columns, and wherein each pixel isconfigured to sense one or more photons of the reflected pulses oflight; one or more memory devices that store instructions; and one ormore processor devices that execute the stored instructions to performactions, including: determining one or more departure times of thescanned pulses of light; and determining the range of the target with animage resolution of the target that is greater than a pixel resolutionof the array of pixels based on the timing advancement for thefractional increments that is correlated to the scanned pulses ofreflected light sensed by one or more of the array of pixels.
 10. Thesystem of claim 9, wherein the scanned pulses of light pass through oremanate from a narrow slot aperture-followed by 1 dimensional focusingoptics to form a thin blade of light that is directed to the target andreflected to the receiver.
 11. The system of claim 9, wherein thescanned pulses of light pass through a thin slot aperture to form a thinserrated blade of light that is directed to the target and reflected tothe receiver.
 12. The system of claim 9, wherein the pixels furthercomprise silicon photomultiplier (SiPM) pixels that can detect a singlephoton.
 13. The system of claim 9, further comprising providing acollimating lens that collimates the scanned pulses of light emitted bythe transmitter.
 14. The system of claim 9, wherein the light emitted bythe transmitter is laser light.
 15. The system of claim 9, furthercomprising providing a mirror to scan the emitted light towards thetarget, wherein a shape of the mirror is one of planar, polygon, convex,concave, or spherical.
 16. The system of claim 9, further comprising:determining, by the one or more processor devices, one or moreanticipated arrival times of the one or more scanned pulses of lightreflections on one or more rows or columns of the array of pixels basedon the one or more departure times; and sequentially activating, by theone or more processor devices, one or more portions of the array ofpixels arranged in the one or more rows or columns to sense the scannedpulses of light reflections based on the one or more anticipated arrivaltimes.
 17. A non-transitory processor readable storage media thatincludes instructions for measuring a range to a target, whereinexecution of the instructions by one or more processor devices cause theone or more processor devices to perform actions, comprising: emitting,by a transmitter, scanned sequential pulses of light toward the target,wherein a timing of the light pulses is advanced by fractionalincrements during successive scans and is correlated to a fractionalshift in direction within a telescopic view of a same pixel in an arrayof pixels provided by the receiver; receiving, by the receiver, one ormore reflections of the scanned pulses of light from the target, whereineach pulse of light reflected from the target and received by thereceiver illuminates a fraction of a Field of View of a pixel and issmaller than a resolution of the pixel in the array of pixels providedby the receiver, and wherein the pixel array is arranged in one or moreof rows or columns, and wherein each pixel is configured to sense one ormore photons of the reflected pulses of light; determining, by one ormore processor devices, one or more departure times of the scannedpulses of light; and determining, by the one or more processor devices,the range of the target with an image resolution of the target that isgreater than a pixel resolution of the array of pixels based on thetiming advancement for the fractional increments that is correlated tothe scanned pulses of reflected light sensed by one or more of the arrayof pixels.
 18. The media of claim 17, wherein the scanned pulses oflight pass through or emanate from a narrow slot aperture-followed by 1dimensional focusing optics to form a thin blade of light that isdirected to the target and reflected to the receiver.
 19. The media ofclaim 17, wherein the scanned pulses of light pass through a thin slotaperture to form a thin serrated blade of light that is directed to thetarget and reflected to the receiver.
 20. The media of claim 17, whereinthe pixels further comprise silicon photomultiplier (SiPM) pixels thatcan detect a single photon.